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16 #ifndef OPENHRP_CONTROLLER_BRIDGE_VIRTUAL_ROBOT_RTC_H_INCLUDED
17 #define OPENHRP_CONTROLLER_BRIDGE_VIRTUAL_ROBOT_RTC_H_INCLUDED
21 #include <rtm/Manager.h>
22 #include <rtm/DataFlowComponentBase.h>
32 static void registerFactory(RTC::Manager* manager,
const char* componentTypeName);
61 #ifdef OPENRTM_VERSION_042
64 template <
class TOutPortHandler>
66 const std::string&
name = handler->portName;
68 registerOutPort(
name.c_str(), handler->outPort);
72 template <
class TInPortHandler>
74 const std::string&
name = handler->portName;
76 registerInPort(
name.c_str(), handler->inPort);
83 template <
class TOutPortHandler>
85 const std::string&
name = handler->portName;
87 if (!addOutPort(
name.c_str(), handler->outPort))
return false;
93 template <
class TInPortHandler>
95 const std::string&
name = handler->portName;
97 if (!addInPort(
name.c_str(), handler->inPort))
return false;
boost::shared_ptr< PortHandler > PortHandlerPtr
bool checkOutPortStepTime(double controlTimeStep)
VirtualRobotRTC(RTC::Manager *manager)
void writeDataToOutPorts(Controller_impl *controller)
bool registerInPortHandler(TInPortHandler *handler)
bool createOutPortHandler(PortInfo &portInfo)
InPortHandlerMap inPortHandlers
boost::shared_ptr< OutPortHandler > OutPortHandlerPtr
bool registerOutPortHandler(TOutPortHandler *handler)
PortHandlerPtr getPortHandler(const std::string &name)
RTC::RTCList * getConnectedRtcs()
boost::shared_ptr< InPortHandler > InPortHandlerPtr
OutPortHandlerMap outPortHandlers
void updatePortObjectRefs()
png_infop png_charpp name
void readDataFromInPorts(Controller_impl *controller)
static void registerFactory(RTC::Manager *manager, const char *componentTypeName)
std::map< std::string, OutPortHandlerPtr > OutPortHandlerMap
RTC::PortService_ptr Port_Service_Ptr_Type
RTC::ReturnCode_t onInitialize()
void addConnectedRtcs(Port_Service_Ptr_Type portRef, RTC::RTCList &rtcList, std::set< std::string > &foundRtcNames)
std::map< std::string, InPortHandlerPtr > InPortHandlerMap
void outputDataToSimulator(Controller_impl *controller)
void inputDataFromSimulator(Controller_impl *controller)
bool createInPortHandler(PortInfo &portInfo)
openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:04